Herein, we explore using a low size, weight, power, and cost unmanned ground vehicle payload designed specifically for low-visibility environments. The proposed payload simultaneously localizes and maps in GPS-denied environments via waypoint navigation. This solution utilizes a diverse sensor payload that includes wheel encoders, inertial measurement unit, 3D lidar, 3D ultrasonic sensors, and thermal cameras. Furthermore, the resulting 3D point cloud was compared against a survey-grade lidar.
UGV SLAM Payload for Low-Visibility Environments
2023
76 pages
Report
No indication
English
Radiofrequency Detection , Navigation Systems , Army corps of engineers , Autonomous systems , Collision avoidance , Detection , Detectors , Engineers , Ground vehicles , Inertial measurement units , Kalman filters , Laser radar , Measurement , Navigation , Operating systems , Point clouds , Simultaneous localization and mapping , Unmanned ground systems , Unmanned ground vehicles
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